I'm trying to build an iOS app that displays the total distance travelled when running or walking. I've read and re-read all the documentation I can find, but I'm having trouble coming up with something that gives me an accurate total distance.

When compared with Nike+ GPS or RunKeeper, my app consistently reports a shorter distance. They'll report the same at first, but as I keep moving, the values of my app vs other running apps gradually drift.

For example, if I walk .3 kilometers (verified by my car's odometer), Nike+ GPS and RunKeeper both report ~.3 kilometers every time, but my app will report ~.13 kilometers. newLocation.horizontalAccuracy is consistently 5.0 or 10.0.

Here's the code I'm using. Am I missing something obvious? Any thoughts on how I could improve this to get a more accurate reading?

#define kDistanceCalculationInterval 10 // the interval (seconds) at which we calculate the user's distance
#define kNumLocationHistoriesToKeep 5 // the number of locations to store in history so that we can look back at them and determine which is most accurate
#define kValidLocationHistoryDeltaInterval 3 // the maximum valid age in seconds of a location stored in the location history
#define kMinLocationsNeededToUpdateDistance 3 // the number of locations needed in history before we will even update the current distance
#define kRequiredHorizontalAccuracy 40.0f // the required accuracy in meters for a location.  anything above this number will be discarded

- (id)init {
    if ((self = [super init])) {
        if ([CLLocationManager locationServicesEnabled]) {
            self.locationManager = [[CLLocationManager alloc] init];
            self.locationManager.delegate = self;
            self.locationManager.desiredAccuracy = kCLLocationAccuracyBestForNavigation;
            self.locationManager.distanceFilter = 5; // specified in meters
        }

        self.locationHistory = [NSMutableArray arrayWithCapacity:kN
objective-c ios core-location cllocationmanager cllocation
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